2011:Autonomous

Autonomous Actions

We split it up into three stages:

1. Starting Positions and Actions (Approach the pegs) with Peg Height (Put Ubertube on pegs)
2. Ending action
3. End Autonomous

To tell the robot which set of actions to perform you select an autonomous mode using the classmate or a paper handbook, which tells you three numbers that you plug in using a keypad on the driver’s station. The robot understands and runs based on the numbers. (Example 000 tells the robot to do nothing during autonomous).

Start Positions and Actions

Start Positions and Actions:	0 Do nothing
Peg Height:	0 Do Nothing	1 Top Peg (Normal Height)	2 Middle peg (Normal Height)	3 Low peg (Normal Height)
	Go to -> End Autonomous

Start Positions and Actions:	1 Follow straight line (Left side) and 2 Follow straight line (Right side)
Peg Height:	0 Do Nothing	1 Top Peg (Offset Height)	2 Middle peg (Offset Height)	3 Low peg (Offset Height)
		Drive Forward 219? inches on line [be far enough away from pegs to move arm without hitting pegs] While driving: Move arm to middle peg position [do not twist tube]
		Have manip. twist tube to top peg angle Move arm to top peg Drive Forward 30? inches	Have manip. twist tube to middle peg angle arm doesn't move Drive Forward 24? inches	Have manip. twist tube to low peg angle Move arm to low peg Drive forward 28? inches
		Eject tube Back up same amount we drove forward
	Go to -> End Autonomous	Go to -> Ending Action

Start Positions and Actions:	3 Follow center line (Left fork) and 4 Follow center line (Right fork)
Peg Height:	0 Do Nothing	1 Top Peg (Normal Height)	2 Middle peg (Normal Height)	3 Low peg (Normal Height)
		Go foward to fork (while raising arm to middle peg offset.) drive slightly more (to no longer see line, half the robot distance so we can turn correctly(19? inches)) Turn left/right until line is visible.
		Tell Manip to angle tube to top peg positon Raise arm to top peg height Drive forward (while following line) 60? inches Turn 28?/-28? degrees Go forward 24? inches	Tell Manip. to angle tube to middle peg positon. Raise arm to middle peg height Drive forward (while following line) 60? inches Turn 30?/-30? degrees Go forward 36? inches	Tell manipulator to angle tube to low peg position. Raise arm to low peg height Drive forward (while following line) 60? inches Turn 29?/-29? degrees Go forward 34? inches
		Eject tube Back up (Same distance as last drive forward) align robot so it is parallel to the line and same distance from wall as Straight Line and Dead Reckoning if right fork: turn -(60 + same angle as last turn) degrees if left fork: turn -(-60 + same angle as last turn) degrees Drive Backwards (16 + 45 - same distance as last drove backward) inches [note: 45 is the amount from the front of the peg]
	Go to -> End Autonomous	Go to -> Ending Action

Start Positions and Actions:	Dead Reckoning offset pegs
Peg Height:	0 Do Nothing	1 Top Peg (Offset Height)	2 Middle peg (Offset Height)	3 Low peg (Offset Height)
		Drive Forward 245? inches Raise arm to middle peg positon (while driving)
		Move arm to top peg offset height Have Manip. angle tube for top peg offset height Drive forward 36 inches	Move arm to middle peg offset height Have Manip. angle tube for middle peg offset height Drive forward 24 inches	Move arm to low peg offset height Have Manip. angle tube for low peg offset height  Drive forward 30 inches
		Eject tube Back up same amount we drove forward
	Go to -> End Autonomous	Go to -> Ending Action

Start Positions and Actions:	Dead Reckoning
Peg Height:	0 Do Nothing	1 Top Peg (Normal Height)	2 Middle peg (Normal Height)	3 Low peg (Normal Height)
		Drive Forward 245? inches Raise arm to middle peg positon (while driving)
		Move arm to top peg height Have Manip. angle tube for top peg height Drive forward 36? inches	Move arm to middle peg height Have Manip. angle tube for middle peg height Drive forward 24? inches	Move arm to low peg height Have Manip. angle tube for low peg height  Drive forward 30? inches
		Eject tube Back up same amount we drove forward
	Go to -> End Autonomous	Go to -> Ending Action

Ending Actions

Ending Action:	0 Do Nothing	1 Stay at pegs don't turn (do nothing #  2)	2 Stay at pegs (turn 180)	3 Go to Midfield (drive backwards)	4 Go to Midfield (turn 180)	5
		Raise arm to max height
			Turn 180 degrees	Drive backwards 229? inches [note: stay 3 feet away from midfield]	Drive backwards 229? inches [note: stay 3 feet away from midfield] Turn 180 degrees
	Go to -> End Autonomous

End Autonomous

Stop all motors Wait for Teleoperated mode Go to -> Teleoperated mode